CN104058014B - One partly takes turns legged type robot - Google Patents

One partly takes turns legged type robot Download PDF

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Publication number
CN104058014B
CN104058014B CN201410180855.7A CN201410180855A CN104058014B CN 104058014 B CN104058014 B CN 104058014B CN 201410180855 A CN201410180855 A CN 201410180855A CN 104058014 B CN104058014 B CN 104058014B
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China
Prior art keywords
motor
foot
wheel
robot
partly
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Expired - Fee Related
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CN201410180855.7A
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CN104058014A (en
Inventor
李君科
刘凯
王宇俊
方灿
石云辉
王观玉
李明江
孟学华
张仁宽
张国锋
卢玉
周力军
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Southwest University
Qiannan Normal University for Nationalities
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Southwest University
Qiannan Normal University for Nationalities
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Publication of CN104058014A publication Critical patent/CN104058014A/en
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Publication of CN104058014B publication Critical patent/CN104058014B/en
Expired - Fee Related legal-status Critical Current
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    • Y02B60/50

Abstract

The invention discloses one and partly take turns legged type robot, the control system including body, being arranged on internal body and the running gear being symmetrically mounted on body side, described control system includes central controller, motor drive controller, wireless communication unit, position detector and battery;Described running gear is half wheel foot formula structure, is mainly made up of half wheel foot and motor, and half wheel foot is arranged on the output shaft of motor by drive hole, and motor is arranged on body by motor fixing plate;The quantity of described position detector is identical with the quantity of half wheel foot, and position detector is arranged between half wheel foot and motor fixing plate.The present invention uses half wheel construction as the form of foot so that robot can take into account in the stationarity of regular landform system power dissipation and the high efficiency of walking, can meet the obstacle climbing ability under non-regular landform simultaneously;This robot landform strong adaptability, it is possible to walking and there is under regular landform the sport efficiency of wheel under complex environment.

Description

One partly takes turns legged type robot
Technical field
The invention belongs to robotics, be specifically related to one and partly take turns legged type robot.
Background technology
Along with the mankind's continuous exploration to tera incognita, the environment of human work increasingly destructuring;The events such as natural calamity, forest fire, nuclear accident, earthquake rescue of adding take place frequently, the mankind's these environment of highly desirable perception, to reach collection information, to alleviate the purpose such as disaster, the rescue wounded.People are helped to go to solve this problem to this end, barrier-surpassing robot arises at the historic moment.
At present, the motion that barrier-surpassing robot is used mainly has the structures such as wheeled, crawler type, hybrid, sufficient formula, surely belongs to wheel type motion mechanism and be most widely used in these motions.Ratcheting mechanism has that efficiency is high, speed soon, the advantage such as action is stable and gone through the actual application of thousand of years.As the Chinese patent of Publication No. CN101947776B discloses a kind of wheel type barrier-crossing robot, including robot vehicle frame, three groups move adsorbing mechanism and the line slide rail of correspondence thereof, leading screw and drive motor, three groups of line slide rails and leading screw are vertically arranged at below robot vehicle frame and two ends are connected with robot vehicle frame and mobile adsorbing mechanism respectively, drive motor to fix with mobile adsorbing mechanism and are connected.This technical scheme solves the problem that existing climbing robot exists when vertical walls operation, robot had both had wheeled mobile robot speed and soon and had turned to the feature flexible, caterpillar mobile robot magnetic adsorbability is big, but this invention to walking landform have certain requirement, can only on level terrain continuous walking;For another example, the Chinese patent of Publication No. CN203528629U discloses that a kind is wheeled climbs wall barrier-surpassing robot, including body, tail end at body is provided with bascule, body includes at least 2 the body branches being front and back sequentially connected in series, being connected by revolute pair between adjacent Liang Ge body branch, the axis of revolute pair is parallel with the upper surface of body;Be provided with the class wheel construction being arranged symmetrically with in the left and right sides of each body branch, each class wheel construction is installed in a drive shaft, and drive shaft is arranged in the body branch of correspondence;Class wheel construction is provided with the axle block being sleeved in respective drive and uniform 3~5 spokes being fixed on axle block of circumference, spoke uses arc-shaped curved surface structure, and it is provided with adsorption structure in the outside of arc-shaped curved surface structure, the contact area of adsorption structure and metope, more than the contact area of spoke with adsorption structure, is provided with span between two adjacent spokes.Although this technology has the advantages such as movement velocity is fast, contact area is big, absorption property is strong, however it is necessary that and could obtain above-mentioned advantage according to its walking lineament, it is desirable to landform is smooth, continuous, so that its range of application is restricted.
Caterpillar type robot adds the ability adapting to environment, expands the range of robot, but it also this has also paid the crawler belt of heaviness, power consumption height and to costs such as the broken rings of landform for this.As the Chinese patent of Publication No. CN203266628U discloses a kind of crawler type industrial robot, it is made up of the base of the mechanical arm on top, middle turntable and bottom, it is provided with rotating disk on described base, turntable is arranged on the rotating pan, set below described mechanical arm in there being crossbeam, described mechanical arm is made up of the wrist end of the back seat of rear end, middle forearm and leading portion, is provided with runner and servomotor in described turntable, and described base is arranged with crawler type walking mechanism.This technical scheme is by arranging crawler type walking mechanism so that industrial robot can be walked on uneven ground, improves the industrial robot adaptive faculty to environment;But the crawler belt that it is used is extremely heavy, power consumption high, to the broken ring of landform and serious.
Legged type robot can be walked under non-regular landform well, is with a wide range of applications in fields such as Aero-Space, military and national defense, mountain region search and rescue and industrial and agricultural productions.As the Chinese patent of Publication No. CN202593677U discloses a kind of six Lun Zushi serial-parallel mirror robots, including carrying platform, battery, control system, the wheel foot combined type movement side chain of camera and 3 6DOFs, battery is installed on described carrying platform, control system and camera, install below described carrying platform described take turns foot combined type movement side chain, described foot combined type movement side chain of taking turns includes joint of going off course, driftage knuckle support, upper pitching joint, thigh, middle pitching joint, middle pitching knuckle support, upper roll joint, shank, lower pitching joint, lower pitching knuckle support, lower roll joint, power wheel support and power wheel.This robot has good flexibility and rapidity;But control and structure is more complicated.
Robot of hybrid mechanism comprehensively employs the advantage of above-mentioned various mechanism, adapts it to various landform as far as possible.As the Chinese patent of Publication No. CN203293183U discloses a kind of hybrid barrier-surpassing robot of wheel arm with radial expansion wheel, it is made up of driving wheel, car body, mechanical arm, auxiliary wheel, manipulator five part.Two driving wheels are symmetricly set on the car body left and right sides, and connect and compose revolute pair with car body, and mechanical arm is hinged with car body front end, and auxiliary wheel is arranged on the forearm of mechanical arm, and manipulator is affixed with mechanical arm wrist joint end.This technical scheme is mainly converted by the wheel arm pose of himself and the regulation of wheel radial dimension carrys out adaptation to the ground.But its structure and control are complex, and obstacle climbing ability is not ideal enough.
The Chinese patent of Publication No. CN103373404A discloses a kind of crawler leg composite movable robot, and its basic structure is made up of two main crawler belts, two front swing arm crawler belts, two rear-swing arm crawler belts and car body;The two ends of described front swing arm crawler belt and rear-swing arm crawler belt are flexibly connected formation parallelogram transmission mechanism by crawler belt axle with car body and main crawler belt respectively and are placed in the both sides of car body;The crawler belt axle of described rear-swing arm crawler belt is in transmission connection with driving means;And the rotation of forward and backward swing arm track frame is realized by power transmission.The advantage of this robot is to utilize front swing arm crawler belt and rear-swing arm crawler belt to carry out obstacle detouring, climbing, thus has preferable obstacle climbing ability.But its structure is complicated, it is impossible to self adaptation landform, need to artificially switch when running into barrier.
The Chinese patent of Publication No. CN102107685A discloses a kind of eccentric wheel leg Hexapod Robot, and this robot uses eccentric wheel structure as the form of leg, and airframe structure uses symmetric design and in flat long and narrow build.This robot includes fuselage ring, eccentric wheel, motor, power supply, photoelectric encoder, control circuit, remote controller.Robot can overcome the power consumption of tradition leg structure acutely to vibrate, and ensure that advance, retrogressing, left and right turn functional completeness.This robot earth's surface strong adaptability, wider eccentric wheel leg is not only suitable for smooth hard earth's surface, can walk in the earth's surface such as meadow, sandy beach, rubble;This robot obstacle climbing ability is strong, can easily cross over the barrier of slightly below fuselage height.This robot obstacle detouring under non-regular landform is effective, but the sport efficiency under non-regular landform is relatively low, and its operational efficiency only has wheeled robot about 1/3.Owing to have employed eccentric wheel structure, its walking power fluctuates relatively big for wheeled robot, and in walking process, energy consumption is relatively big, also has a certain impact the life-span of power supply simultaneously.
In sum, above-mentioned robot is respectively arranged with its pluses and minuses, but in actual applications, existing barrier-surpassing robot exists the deficiencies such as sport efficiency is low, energy consumption big, control complexity, obstacle climbing ability is undesirable, and these seriously limit the range of application of robot;The robot using wheel has the high efficiency of motion and the simplicity of control, but it lacks obstacle climbing ability.Therefore, how to improve and use the obstacle climbing ability of wheel child robot, it is possible to take into account in the stationarity of regular landform system power dissipation and the high efficiency of walking, be current robotics's problem demanding prompt solution.
Summary of the invention
Present invention aims to the deficiency existing for existing robot, it is provided that one partly takes turns legged type robot, this robot can take into account the obstacle climbing ability under the stationarity and the high efficiency of walking, and non-regular landform of regular landform system power dissipation.
The present invention is achieved by following technical solution.
One partly takes turns legged type robot, and the control system including body, being arranged on internal body and the running gear being symmetrically mounted on body side, described control system includes central controller, motor drive controller, wireless communication unit, position detector and battery;Wherein, battery connects central controller, motor drive controller, wireless communication unit and position detector respectively by power line;Central controller uses control line to be connected with motor drive controller, wireless communication unit and position detector respectively;Motor drive controller is connected with motor by control line;Described running gear is half wheel foot formula structure, is mainly made up of half wheel foot and motor, and half wheel foot is arranged on the output shaft of motor by drive hole, and motor is arranged on body by motor fixing plate;The quantity of described position detector is identical with the quantity of half wheel foot, and position detector is arranged between half wheel foot and motor fixing plate.
Described body is flat structure.This structure is used to make robot not affect its walking after turning on one's side.
On the output shaft of the motor that described half wheel foot is arranged on body both sides for even, symmetric.
Described half wheel foot is sector structure, and the radian of sector structure is not less than π.
Described drive hole is positioned on the central angle of sector structure.
It is provided with skid resistant course on the radius of described sector structure or wraps one layer of anti-slip material.
Described anti-slip material is silicon rubber, resin friction materials or aluminum matrix composite.
The invention has the beneficial effects as follows:
The present invention is by using half wheel foot version so that barrier-surpassing robot can be taken into account in the stationarity of regular landform system power dissipation and the high efficiency of walking, can meet the obstacle climbing ability under non-regular landform simultaneously;Compared with prior art, there is following remarkable advantage:
(1) use half wheel foot formula structure walking, the robot of foot structure can be improved and in the low inferior position of regular landform sport efficiency and don't lose obstacle climbing ability so that adaptive capacity to environment is higher;
(2) use half wheel foot formula structure walking, not only can improve the concussion of foot structure power consumption when walking, and can guarantee that the reliability of walking;
(3) use half wheel foot formula structure and the symmetry of installation, also be able to during for toppling normally walk so that fault-tolerant ability improves;
(4) foot is partly taken turns according to what the size born a heavy burden and environment can select different number easily;
(5) frame for movement is simple, it is easy, easy to control to realize;
(6) it is applied in working environment switch without pattern.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the structural representation of running gear in the present invention;
Fig. 3 is the theory diagram of control system in the present invention.
In figure: 1-body 1,2-control system, 3-running gear, 21-central controller, 22-motor drive controller, 23-wireless communication unit, 24-position detector, 25-battery, 31-partly takes turns foot, 32-motor, 33-motor fixing plate, 311-drive hole, 312-anti-slop serrations.
Detailed description of the invention
Further describe technical scheme below in conjunction with the accompanying drawings, but claimed scope is not limited to described.
As shown in Figure 1, Figure 2, Figure 3 shows, one of the present invention partly takes turns legged type robot, including body 1, being arranged on the control system 2 within body 1 and be symmetrically mounted on the running gear 3 of body 1 side, described control system 2 includes central controller 21, motor drive controller 22, wireless communication unit 23, position detector 24 and battery 25;Wherein, battery 25 connects central controller 21, motor drive controller 22, wireless communication unit 23 and position detector 24 respectively by power line, for providing energy for whole robot;Central controller 21 uses control line to be connected with motor drive controller 22, wireless communication unit 23 and position detector 24 respectively, driven the work of controller 22 by the signal control motor of position detector 24, wireless communication unit 23 is used for receiving user command and order being transferred to central controller 21;Motor drive controller 22 is connected with motor 32 by control line;Described running gear 3 is half wheel foot formula structure, is mainly made up of half wheel foot 31 and motor 32, and half wheel foot 31 is arranged on the output shaft of motor 32 by drive hole 311, and motor 32 is arranged on body 1 by motor fixing plate 33;The quantity of described position detector 24 is identical with the quantity of half wheel foot 31, and position detector 24 is arranged between half wheel foot 31 and motor fixing plate 33, is used for the state of detection half wheel foot 31 and status signal is transferred to central controller 21.
Described body 1 is in flat structure.This structure is used to make robot not affect its walking after turning on one's side.
On described half output shaft taking turns sufficient 31 motors 32 being arranged on body 1 both sides for even, symmetric.
Described drive hole (311) is positioned on the central angle of sector structure.
Foot 31 taken turns by one motor 32 corresponding one and half, uses independent type of drive.
The present invention is in actual applications, traveling half wheel foot 31 is provided with n (n=4,6,8,10 ...), being installed on the output shaft of body 1 both sides motor 32 with left and right sides symmetric mode, in order to ensure to reach preferable obstacle clearing capability, left and right sides symmetry group can be installed with the position of no more than wheel radius;Robot use two and Ban wheel foot 31 walking, one group be left side serial number even number wheel and right side serial number odd number wheel composition, another group be left side serial number odd number wheel and right side serial number even number wheel composition.Two groups of wheels ensure robot motion by the gait control of control system.So also assures that high efficiency and the power consumption stability that robot moves under regular landform outside robot obstacle climbing ability under non-regular landform ensureing.
Described half wheel foot 31 is sector structure, and the radian of sector structure is not less than π.The radian of sector structure can need the height crossed to determine according to it in obstacle detouring environment.If the radian of half wheel foot 31 is W, preferable obstacle clearing capability is L, the radius r of wheel.Wherein, W is value between π and 2 π, and W value is the biggest, then the height can crossed is the lowest.Maximum desired obstacle clearing capability is the radius of twice wheel, i.e. maximum desired obstacle clearing capability is 2r.Relation between the radian W and preferable obstacle clearing capability L of half wheel foot 31 sector structures is:
Partly should take turns legged type robot operationally, according to position detector 24, central controller 21 in control system 2 detects that half wheel foot 31 real-time running state signals are comprehensively analyzed, then generate corresponding gait control signal respectively two and Ban wheel foots 31 to be controlled, so that the half wheel legged type robot coordinated movement of various economic factors.Native system utilizes the position feedback of position detector to be possible not only to realize the travelling control of half wheel legged type robot motion, but also robot motion can be made to have more visual impact.
Such as Fig. 1 it can be seen that motor 32 be placed in body 1 in and use the securing members such as screw itself and motor fixing plate 33 to be fixed up.Central controller 21, motor drive controller 22, wireless communication unit 23 and battery 25 are fixedly installed in body, in order to avoid during robot motion, center of gravity is unbalance, preferably they are installed near robot position of centre of gravity;In the technical program, they are loaded on position of centre of gravity and make it equalize the most as far as possible near the weight of center of gravity.As in figure 2 it is shown, position detector 24 is by being threadably mounted on motor fixing plate 33, and between motor fixing plate 33 and half wheel foot 31.
As shown in Figure 1 and Figure 2, half wheel foot 31 relies on motor 32 to be driven, and wherein motor shaft is directly connected to the drive hole 311 of half wheel foot 31, and motor 32 other end is connected to the control system 2 of robot;Motor 32 is fixed on body 1 by motor fixing plate 33, and motor fixing plate 33 and body 1 use threaded.The size and shape of described drive hole 311 matches with motor shaft, when mounted, is threadably secured after half drive hole 311 taking turns foot 31 and motor shaft being socketed.So output shaft of motor 32 drives half wheel foot 31 motion, thus lays a good foundation according to gait walking for robot.
As in figure 2 it is shown, in order to make robot reach preferable obstacle clearing capability, when installing motor fixing plate 33, the symmetrical side fixture before and after body 1 can be installed with displaced manner, and the distance staggered is advisable with the length less than wheel radius.In practice in order to reach more preferable obstacle detouring effect, the radius of described half wheel foot 31 sector structures is provided with skid resistant course 312 or wraps one layer of anti-slip material.Its anti-slip material can use the preferable materials of frictional force such as silicon rubber, resin friction materials, or aluminum matrix composite.

Claims (7)

1. half take turns a legged type robot, including body (1), be arranged on body (1) inside Control system (2) and be symmetrically mounted on the running gear (3) of body (1) side, described Control system (2) includes central controller (21), motor drive controller (22), wireless Communication unit (23), position detector (24) and battery (25);Wherein, battery (25) Central controller (21), motor drive controller (22), wireless is connected respectively by power line Communication unit (23) and position detector (24);Central controller (21) uses control line Respectively with motor drive controller (22), wireless communication unit (23) and position detector (24) Connect;Motor drive controller (22) is connected with motor (32) by control line;Its feature Be: described running gear (3) is half wheel foot formula structure, mainly by partly take turns foot (31) and Motor (32) forms, and partly takes turns foot (31) and is arranged on motor (32) by drive hole (311) Output shaft on, motor (32) is arranged on body (1) by motor fixing plate (33); The quantity of described position detector (24) is identical with the quantity partly taking turns foot (31), and position inspection Survey device (24) to be arranged between half wheel foot (31) and motor fixing plate (33).
One the most according to claim 1 partly takes turns legged type robot, it is characterised in that: Described body (1) is in flat structure.
One the most according to claim 1 partly takes turns legged type robot, it is characterised in that: Described foot (31) of partly taking turns is the motor (32) that even, symmetric is arranged on body (1) both sides Output shaft on.
One the most according to claim 1 partly takes turns legged type robot, it is characterised in that: Described foot (31) of partly taking turns is sector structure, and the radian of sector structure is not less than π.
One the most according to claim 1 partly takes turns legged type robot, it is characterised in that: Described drive hole (311) is positioned on the central angle of sector structure.
One the most according to claim 4 partly takes turns legged type robot, it is characterised in that: It is provided with skid resistant course (312) on the radius of described sector structure or wraps one layer of anti-slip material.
One the most according to claim 6 partly takes turns legged type robot, it is characterised in that: Described anti-slip material is silicon rubber, resin friction materials or aluminum matrix composite.
CN201410180855.7A 2014-04-30 2014-04-30 One partly takes turns legged type robot Expired - Fee Related CN104058014B (en)

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Publication number Priority date Publication date Assignee Title
CN104354786B (en) * 2014-11-11 2017-02-01 保定金迪科学仪器有限公司 Patrol check device for detecting defects of cavity of wind power generation blade
CA2919403A1 (en) * 2015-02-01 2016-08-01 Genesis Advanced Technology Inc. Mobile platform
CN109018069A (en) * 2018-05-30 2018-12-18 中国人民解放军军事科学院国防科技创新研究院 Wheel moving platform and moving trolley

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CN2925779Y (en) * 2006-01-17 2007-07-25 江南机器(集团)有限公司 Arm and walking mechanism of portable caterpillar robot
CN100563758C (en) * 2008-01-15 2009-12-02 东南大学 Scroll cable detecting robot
DE102009041042A1 (en) * 2009-09-10 2011-03-17 Fritz, Helmut, Dr. Ing. Ball wheel for use in wheelchair, furniture, ground conveyor and robots, has two half balls which are connected with axis in polar axis orthogonal to intersecting plane of half balls
CN103457223B (en) * 2013-08-19 2016-01-06 燕山大学 A kind of cable biaxially pressure deicing robot
CN203528629U (en) * 2013-10-25 2014-04-09 天津大学 Similar wheel type wall crawling obstacle crossing robot

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